不平整地面仿人机器人行走控制策略  

CONTROL STRATEGY ABOUT HUMANOID ROBOT STABLE LOCOMOTION ON UNEVEN GROUND

作　　者：帅梅[1] 付成龙[2] 杨向东[2] 陈恳[2] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100037 [2]清华大学精密仪器与机械学系,北京100084

出　　处：《机械工程学报》2006年第8期1-6,共6页Journal of Mechanical Engineering

基　　金：国家863计划(2003AA420010-05);中国博士后科学基金(2004035313);清华-中大博士后科学基金

摘　　要：针对仿人机器人行走于不平整地面会失稳倾倒的现象,提出基于Kane碰撞原理的在线调节控制算法。该调节算法可以实现快速的动力学解算,估算出仿人机器人遇到障碍时地面对腿部的冲击力大小,据此调节仿人机器人的腿部及躯干姿态参数,使机器人成功稳定行走过凸起或凹陷障碍。采用Matlab的Simulink工具,仿真验证了5杆仿人机器人模型基于Kane在线调节控制算法平稳行走过障碍的过程。Since a humanoid robot tends to tip over easily while walking on uneven terrain, an online regulating control algorithm is proposed based on Kane collision theory, to prevent humanoid robot from tipping over while walking on uneven ground. This regulating algorithm can compute the dynamic model of the robot rapidly, and can estimate the values of the impacting force acting on leg by ground. These data of impacting force can be used to adjust the gait of legs and torso for a humanoid robot to pass over the scraggy obstacle successfully. By using this algorithm, walking simulations of online control on a 5-link humanoid model are performed in the MATLAB/Simulink environment and the effectiveness of the proposed algorithm is illustrated.

关 键 词：仿人机器人 不平整地面行走 Kane碰撞原理 控制策略 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]